Systems, devices, and methods including a stand-up wheel chair having automatic stability control

ABSTRACT

Systems, devices, and methods are described for providing, among other things, a stand-up wheel chair having automatic stability control.

If an Application Data Sheet (ADS) has been filed on the filing date ofthis application, it is incorporated by reference herein. Anyapplications claimed on the ADS for priority under 35 U.S.C. §§119, 120,121, or 365(c), and any and all parent, grandparent, great-grandparent,etc. applications of such applications, are also incorporated byreference, including any priority claims made in those applications andany material incorporated by reference, to the extent such subjectmatter is not inconsistent herewith.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is related to and/or claims the benefit of theearliest available effective filing date(s) from the following listedapplication(s) (the “Priority Applications”), if any, listed below(e.g., claims earliest available priority dates for other thanprovisional patent applications or claims benefits under 35 USC §119(e)for provisional patent applications, for any and all parent,grandparent, great-grandparent, etc. applications of the PriorityApplication(s)). In addition, the present application is related to the“Related Applications,” if any, listed below.

PRIORITY APPLICATIONS

The present application constitutes a continuation-in-part of U.S.patent application Ser. No. 14/035,602, entitled SYSTEMS, DEVICES, ANDMETHODS INCLUDING A STAND-UP WHEEL CHAIR HAVING AUTOMATIC STABILITYCONTROL, naming RODERICK A. HYDE, MURIEL Y. ISHIKAWA, STEPHEN L.MALASKA, CLARENCE T. TEGREENE as inventors, filed 24, Sep. 2013.

RELATED APPLICATIONS

U.S. patent application Ser. No. 14/035,857, entitled SYSTEMS, DEVICES,AND METHODS INCLUDING A STAND-UP WHEEL CHAIR HAVING AUTOMATIC STABILITYCONTROL, naming RODERICK A. HYDE, MURIEL Y. ISHIKAWA, STEPHEN L.MALASKA, CLARENCE T. TEGREENE as inventors, filed 24, Sep. 2013, isrelated to the present application, and which is a continuation of U.S.patent application Ser. No. 14/035,602, entitled SYSTEMS, DEVICES, ANDMETHODS INCLUDING A STAND-UP WHEEL CHAIR HAVING AUTOMATIC STABILITYCONTROL, naming RODERICK A. HYDE, MURIEL Y. ISHIKAWA, STEPHEN L.MALASKA, CLARENCE T. TEGREENE as inventors, filed 24, Sep. 2013.

If the listings of applications provided above are inconsistent with thelistings provided via an ADS, it is the intent of the Applicant to claimpriority to each application that appears in the Priority Applicationssection of the ADS and to each application that appears in the PriorityApplications section of this application.

All subject matter of the Priority Applications and the RelatedApplications and of any and all parent, grandparent, great-grandparent,etc. applications of the Priority Applications and the RelatedApplications, including any priority claims, is incorporated herein byreference to the extent such subject matter is not inconsistentherewith.

SUMMARY

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair. In an embodiment, the stand-up wheelchairincludes a stand-up assembly structured and dimensioned to support apassenger transitioning between a sitting position, a kneeling position,a reaching position, or a leaning position, and a substantially standingposition. In an embodiment, the stand-up wheelchair includes a pluralityof rotatable members operable to frictionally interface the stand-upwheelchair to a travel surface and to move the stand-up wheelchair alongthe travel surface. In an embodiment, the stand-up wheelchair includes avariable center of mass assembly including one or more counter massesselectively displaceable along a substantially vertical axis of thestand-up wheelchair. In an embodiment, the stand-up wheelchair includesa dynamic stability control module operably coupled to the variablecenter of mass assembly. In an embodiment, the dynamic stability controlmodule including circuitry operable to activate a displacement of theone or more counter masses responsive to a change in a stability statusof the stand-up wheelchair.

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair system. In an embodiment, the stand-up wheelchairsystem includes circuitry for actuating a stand-up assembly totransition between a first configuration and a passenger-standingconfiguration. In an embodiment, the stand-up wheelchair system includescircuitry for generating a stand-up wheelchair stability statusindicative of a stand-up wheelchair center of mass location. In anembodiment, the stand-up wheelchair system includes circuitry forcontrolling a displacement of one or more counter masses responsive to achange in the stand-up wheelchair stability status associated with atransition between the first position and the substantially standingposition.

In an aspect, the present disclosure is directed to, among other things,a method of operating a stand-up wheelchair. In an embodiment, themethod includes actuating a stand-up assembly configured to transitionfrom a first configuration to a standing configuration. In anembodiment, the method includes actuating a displacement of one or morecounter masses responsive to changes in a stand-up wheelchair verticalcenter of mass location associated with a transition from the firstconfiguration to the standing configuration. In an embodiment, themethod includes generating a stand-up wheelchair stability statusindicative of a stand-up wheelchair center of mass location based on oneor more sensor inputs. In an embodiment, the method includes actuating adisplacement of one or more counter masses responsive to changes in thestand-up wheelchair stability status.

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair system. In an embodiment, the stand-up wheelchairsystem includes a stand-up assembly module including circuitry foroperating a stand-up assembly configured to support a passengertransitioning from a sitting configuration to a standing configuration.In an embodiment, the stand-up wheelchair system includes a massdistribution module including circuitry for sensing a stand-upwheelchair mass distribution and for determining a stand-up wheelchaircenter of mass location. In an embodiment, the stand-up wheelchairsystem includes a counter-mass module including circuitry for actuatinga displacement of one or more counter masses selectively displaceablealong at least a substantially vertical axis responsive to changes in astand-up wheelchair vertical center of mass location.

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair including a stand-up assembly having anarticulated structure movable from a sitting configuration, a kneelingconfiguration, a reaching configuration, or a leaning configuration, toa substantially standing configuration. In an embodiment, the stand-upassembly is structured and dimensioned to support a passenger from asitting position, a kneeling position, a reaching position, or a leaningposition, to a substantially standing position. In an embodiment, thestand-up wheelchair includes a plurality of rotatable members operableto frictionally interface the stand-up wheelchair to a travel surfaceand to move the stand-up wheelchair along the travel surface. In anembodiment, the stand-up wheelchair includes a gyroscopic stabilizationassembly having at least one gyroscope operable to apply a rightingtorque along one or more of a transverse axis, a longitudinal axis, anda vertical axis of the stand-up wheelchair. In an embodiment, thestand-up wheelchair includes a dynamic stability controller operablycoupled to the gyroscopic stabilization assembly. In an embodiment, thedynamic stability controller is operable to cause the gyroscopicstabilization assembly to precess about an output axis responsive to achange in an externally applied torque.

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair system including circuitry for actuating astand-up assembly configured to support a passenger transitioning from asitting configuration to a standing configuration. In an embodiment, thestand-up wheelchair system includes circuitry for sensing a stand-upwheelchair mass distribution and for determining a stand-up wheelchaircenter of mass location. In an embodiment, the stand-up wheelchairsystem includes circuitry for actuating a gyroscopic stabilizationassembly having at least one gyroscope operable to apply a rightingtorque along one or more of a transverse axis, a longitudinal axis, anda vertical axis of the stand-up wheelchair responsive to changes in astand-up wheelchair center of mass location (e.g., changes in a stand-upwheelchair vertical center of mass location, changes in a stand-upwheelchair horizontal center of mass location, or the like). In anembodiment, the stand-up wheelchair system includes circuitry foractuating a gyroscopic stabilization assembly responsive to changes instand-up wheelchair stability. In an embodiment, the stand-up wheelchairsystem includes circuitry for actuating a gyroscopic stabilizationassembly responsive to changes in a stand-up wheelchair yaw, pitch, orroll. In an embodiment, the stand-up wheelchair system includescircuitry for actuating a gyroscopic stabilization assembly responsiveto changes in a stand-up wheelchair tilt.

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair system including a stand-up assembly module havingcircuitry for actuating a stand-up assembly to transition from a sittingconfiguration to a standing configuration. In an embodiment, thestand-up wheelchair system includes a mass distribution module includingcircuitry for sensing a stand-up wheelchair mass distribution and fordetermining a stand-up wheelchair vertical center of mass location. Inan embodiment, the stand-up wheelchair system includes a gyroscopicstabilizer module including circuitry for actuating a gyroscopicstabilizer assembly responsive to a change in a stand-up wheelchair massdistribution or a stand-up wheelchair vertical center of mass location.

In an aspect, the present disclosure is directed to, among other things,a method of operating stand-up wheelchair. In an embodiment, the methodincludes actuating a stand-up assembly configured to support a passengertransitioning from a first configuration to a standing configuration. Inan embodiment, the method includes determining a stand-up wheelchaircenter of mass location. In an embodiment, the method includes applyinga righting torque responsive to changes in a stand-up wheelchair centerof mass location.

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair including a stand-up assembly having anarticulated structure movable between a sitting configuration, akneeling configuration, a reaching configuration, a leaningconfiguration, or a standing configuration and a different one of asitting configuration, a kneeling configuration, a reachingconfiguration, a leaning configuration, or a standing configuration. Inan embodiment, the stand-up wheelchair includes a plurality of rotatablemembers operable to frictionally interface the stand-up wheelchair to atravel surface and to move the stand-up wheelchair along the travelsurface. In an embodiment, the stand-up wheelchair includes astabilization assembly having a plurality of flywheels operable to applya righting torque along one or more of a transverse axis, a longitudinalaxis, a vertical axis of the stand-up wheelchair, or combinationsthereof. In an embodiment, the stand-up wheelchair includes a dynamicstability controller operably coupled to the stabilization assembly, thedynamic stability controller operable to cause one or more of theplurality of a flywheels to spin responsive to a change in an externallyapplied torque.

In an aspect, the present disclosure is directed to, among other things,a stand-up wheelchair system including circuitry for actuating astand-up assembly configured to support a passenger transitioningbetween a sitting position, a kneeling position, a reaching position, ora leaning position, and a substantially standing position. In anembodiment, the stand-up wheelchair system includes circuitry forsensing a stand-up wheelchair mass distribution and for determining astand-up wheelchair center of mass location. In an embodiment, thestand-up wheelchair system includes circuitry for actuating rotation ofat least a first flywheel about a first axis responsive to changes in astand-up wheelchair center of mass location.

In an aspect, the present disclosure is directed to, among other things,a method of operating stand-up wheelchair including actuating a stand-upassembly configured to support a passenger transitioning from a firstconfiguration to a standing configuration. In an embodiment, the methodincludes actuating an angular-momentum-based stabilizer responsive to anapplied torque associated with a stand-up assembly transitioning from afirst configuration to a standing configuration.

In an aspect, the present disclosure is directed to, among other things,a method of operating stand-up wheelchair including actuating a stand-upassembly configured to support a passenger transitioning between a firstconfiguration and a second configuration, the first configuration one ofa sitting configuration, a kneeling configuration, a reachingconfiguration, a leaning configuration, or a standing configuration, thesecond configuration a different one of a sitting configuration, akneeling configuration, a reaching configuration, a leaningconfiguration, or a standing configuration. In an embodiment, the methodincludes determining a stand-up wheelchair center of mass location. Inan embodiment, the method includes applying a righting torque responsiveto changes in a stand-up wheelchair center of mass location.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a perspective view of stand-up wheelchair system according toone embodiment.

FIG. 2 is a perspective view of stand-up wheelchair system according toone embodiment.

FIG. 3 is a perspective view of stand-up wheelchair system according toone embodiment.

FIG. 4 shows a flow diagram of a method of operating a stand-upwheelchair according to one embodiment.

FIG. 5 shows a flow diagram of a method of operating a stand-upwheelchair according to one embodiment.

FIG. 6 shows a flow diagram of a method of operating a stand-upwheelchair according to one embodiment.

FIG. 7 shows a flow diagram of a method of operating a stand-upwheelchair according to one embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Assistive devices such as stand-up wheelchairs may enhance mobility,accessibility, or independence for users, and may also improve qualityof life. Assistive devices such as stand-up wheelchairs may also providepostural and sitting support to a user transitioning between a sittingposition, a kneeling position, a reaching position, or a leaningposition, and a substantially standing position. For example, stand-upwheel chairs may provide users with the ability to rise into a standingposition when needed and then return to a seated position. Such mobilitymay improve blood circulation, kidney function, bladder functioning, aswell as reduce bone decalcification, reduce osteoporosis risk, or assistin preventing pressure sores. Assistive devices such as stand-upwheelchairs may enable user to become mobile, remain healthy,participate fully in community life, as well as reduce dependence onothers.

FIG. 1 shows a stand-up wheelchair system 100 in which one or moremethodologies or technologies can be implemented such as, for example,transporting and physically supporting an individual subject (e.g., apatient, a human subject, an animal subject, a user, a passenger, etc.),as well as assisting and supporting a user to transition between asitting position, a kneeling position, a reaching position, or a leaningposition, and a substantially standing position. In an embodiment, thestand-up wheelchair system 100 includes a stand-up wheelchair 102.

In an embodiment, the system 100 includes a stand-up wheelchair 102having a stand-up assembly 104 structured and dimensioned to support apassenger transitioning between a sitting position, a kneeling position,a reaching position, or a leaning position, and a substantially standingposition. For example, in an embodiment, the stand-up wheelchair 102includes an articulated structure 106 movable between a firstconfiguration and at least a second configuration. In an embodiment, thefirst configuration is operable to support a passenger in at least oneof a sitting position, a kneeling position, a reaching position, aleaning position, or a standing position, and the second configurationis operable to support a passenger in a different one of a sittingposition, a kneeling position, a reaching position, a leaning position,or a standing position. In an embodiment, the articulated structure 106forms part of a selectively tiltable and retractable passenger supportstructure. In an embodiment, the articulated structure 106 includes oneor more support mechanisms 108 for securing a passenger transitioning,for example, between a sitting position, a kneeling position, a reachingposition, or a leaning position, and a substantially standing position.

In an embodiment, the stand-up wheelchair 102 includes a power source110 and a motor 112 operably coupled to the stand-up assembly 104, andconfigured to power the stand-up assembly 104 to transition between afirst configuration and at least a second configuration. In anembodiment, the first configuration is operable to support a passengerin at least one of a sitting position, a kneeling position, a reachingposition, a leaning position, or a standing position, and the secondconfiguration is operable to support a passenger in a different one of asitting position, a kneeling position, a reaching position, a leaningposition, or a standing position. In an embodiment, the stand-upassembly 104 includes an articulated structure movable between a firstconfiguration and at least a second configuration in the presence of anapplied potential. In an embodiment, the stand-up assembly 104 includesan articulated structure movable between a first configuration operableto support a passenger in at least one of a sitting position, a kneelingposition, a reaching position, a leaning position, or a standingposition, and the second configuration operable to support a passengerin a different one of a sitting position, a kneeling position, areaching position, a leaning position, or a standing position, in thepresence of an applied potential.

In an embodiment, the stand-up wheelchair 102 includes a plurality ofrotatable members 114 operable to frictionally interface the stand-upwheelchair 102 to a travel surface and to move the stand-up wheelchair102 along a travel surface. In an embodiment, the plurality of rotatablemembers 114 includes at least one wheel. In an embodiment, the pluralityof rotatable members 114 includes at least one wheel having an electricwheel hub motor. In an embodiment, the plurality of rotatable members114 includes a disc brake system. In an embodiment, the plurality ofrotatable members 114 includes a regenerative brake system. In anembodiment, the pluralities of rotatable members 114 include one or morebrushless electric motors.

In an embodiment, one or more of the plurality of rotatable members 114are operably coupled to one or more actuators that use an electricalcurrent or magnetic actuating force to vary the motion of a rotatingcomponent (e.g., an actuator that rotates an axle coupled to the wheelto give it steering, an actuator that activates a rotating componentforming part of an electric brake system, a magnetic bearing, a magnetictorque device, a brushless electric motor, etc. to vary velocity, etc.).

In an embodiment, one or more of the plurality of rotatable members 114are operably coupled to a steering assembly operable to vary a steeringangle of at least one of the plurality of rotatable members 114. In anembodiment, the steering assembly includes one or more sensors (e.g.,yaw-rate sensors, angular velocity sensors, steering angle sensors,wheel speed sensors, position sensors, nodes, etc.). For example, in anembodiment, the steering assembly includes a steering sensor operable todetect a steering angle, orientation, etc., associated with a steeredone of the plurality of rotatable members 114. In an embodiment, thesteering assembly includes a velocity sensor operable to detect avelocity of the stand-up wheelchair 102. In an embodiment, the steeringassembly is operably coupled to an acceleration sensor operable todetect the acceleration of the stand-up wheelchair 102. In anembodiment, the steering assembly is operably coupled to vehicleposition sensor operable to detect a geographical location of thestand-up wheelchair 102. In an embodiment, the steering assembly isoperably coupled to a rotational rate sensor operable to detect a rateof rotation of one or more of the plurality of rotatable members 114.

In an embodiment, the stand-up wheelchair 102 includes a power source110 and a motor 112 operably coupled one or more of the plurality ofrotatable members 114, and is configured to drive one or more of theplurality of rotatable members 114. In an embodiment, the stand-upwheelchair 102 includes a powertrain operably coupled to a power source110. In an embodiment, the powertrain is configured to supply power toone or more power train components to generate power and deliver it to atravel path surface. Non-limiting examples of powertrain componentsinclude motors, engines, transmissions, drive shafts, differentials,drive rotatable members, final drive assemblies, or the like. In anembodiment, the stand-up wheelchair 102 includes one or morepowertrains. In an embodiment, the stand-up wheelchair 102 includes apowertrain operably coupled to a plurality of rotatable members 114 andconfigured to cause a change in position, acceleration, direction,momentum, or the like, of the stand-up wheelchair 102. In an embodiment,the stand-up wheelchair 102 includes one or more rotatable members 114operable to receive torque from the powertrain. In an embodiment, eachrotatable member 114 is operably coupled to a respective powertrain anda steering assembly.

In an embodiment, during operation, one or more of the plurality ofrotatable members 114 provide a driving force for the stand-upwheelchair 102. In an embodiment, the stand-up wheelchair 102 takes theform of a multi-wheel drive stand-up wheelchair 102. For example, in anembodiment, the stand-up wheelchair 102 takes the form of a two-wheeldrive wheelchair, a four-wheel drive wheelchair, an all-drivewheelchair, or the like. In an embodiment, during operation, one or moredrive wheels provide a driving force for the stand-up wheelchair 102. Inan embodiment, the stand-up wheelchair 102 is configured foromni-directional travel. In an embodiment, the stand-up wheelchair 102can be driven while a passenger is sitting, kneeling, reaching, leaning,or standing. In an embodiment, the stand-up wheelchair 102 can be drivenwhile a passenger is standing.

In an embodiment, each rotatable member 114 can be controlledseparately. For example, in an embodiment, a steering angle, anorientation, a velocity, etc., can be controlled separately for eachrotatable member 114. In an embodiment, the system 100 includescircuitry for controlling one or more rotatable members 114. Forexample, in an embodiment, a rotatable member 114 is operably coupled toat least a first electromagnetic motor that drives a rotatable member114 and a second electromagnetic motor that can steer the rotatablemember 114. In an embodiment, each of the first, second, thirdelectromagnetic motor, etc., can be separately controlled for precisemovement. In an embodiment, each electromagnetic motor is powered by abattery. In an embodiment, a plurality of electromagnetic motors ispowered by a single battery.

In an embodiment, the stand-up wheelchair 102 includes a variable centerof mass assembly 120 including one or more counter masses 122. In anembodiment, the one or more counter masses 122 are selectivelydisplaceable along a substantially vertical axis of the stand-upwheelchair 102.

In an embodiment, the stand-up wheelchair 102 includes one or moremodules. For example, in an embodiment, the stand-up wheelchair 102includes a dynamic stability control module 126 operably coupled to thevariable center of mass assembly 120 and configured to selectivelydisplace one or more counter masses 122.

In an embodiment, a module includes, among other things, one or morecomputing devices such as a processor (e.g., a microprocessor), acentral processing unit (CPU), a digital signal processor (DSP), anapplication-specific integrated circuit (ASIC), a field programmablegate array (FPGA), or the like, or any combinations thereof, and caninclude discrete digital or analog circuit elements or electronics, orcombinations thereof. In an embodiment, a module includes one or moreASICs having a plurality of predefined logic components. In anembodiment, a module includes one or more FPGAs, each having a pluralityof programmable logic components.

In an embodiment, the dynamic stability control module 126 includes amodule having one or more components operably coupled (e.g.,communicatively, electromagnetically, magnetically, ultrasonically,optically, inductively, electrically, capacitively coupled, or the like)to each other. In an embodiment, a module includes one or more remotelylocated components. In an embodiment, remotely located components areoperably coupled, for example, via wireless communication. In anembodiment, remotely located components are operably coupled, forexample, via one or more receivers, transmitters, transceivers,antennas, or the like. In an embodiment, the drive control moduleincludes a module having one or more routines, components, datastructures, interfaces, and the like.

In an embodiment, a module includes memory that, for example, storesinstructions or information. For example, in an embodiment, at least onecontrol module includes memory that stores operator-guide verificationinformation, operator-guide identification information, operator-guideregistration information, patient identification information, navigationplan information, travel path markings information, travel-route statusinformation, vehicle status information, travel-route statusinformation, etc. Non-limiting examples of memory include volatilememory (e.g., Random Access Memory (RAM), Dynamic Random Access Memory(DRAM), or the like), non-volatile memory (e.g., Read-Only Memory (ROM),Electrically Erasable Programmable Read-Only Memory (EEPROM), CompactDisc Read-Only Memory (CD-ROM), or the like), persistent memory, or thelike. Further non-limiting examples of memory include ErasableProgrammable Read-Only Memory (EPROM), flash memory, or the like. In anembodiment, the memory is coupled to, for example, one or more computingdevices by one or more instructions, information, or power buses. Forexample, in an embodiment, the dynamic stability control module 126includes memory that, for example, stores dynamic stability controlinformation, center of mass information, travel-route statusinformation, displacement mass location, or the like.

In an embodiment, a module includes one or more computer-readable mediadrives, interface sockets, Universal Serial Bus (USB) ports, memory cardslots, or the like, and one or more input/output components such as, forexample, a graphical user interface, a display, a keyboard, a keypad, atrackball, a joystick, a touch-screen, a mouse, a switch, a dial, or thelike, and any other peripheral device. In an embodiment, a moduleincludes one or more user input/output components, user interfaces, orthe like, that are operably coupled to at least one computing deviceconfigured to control (electrical, electromechanical,software-implemented, firmware-implemented, or other control, orcombinations thereof) at least one parameter associated with, forexample, controlling one or more of activating, driving, navigating,operating, braking, steering, articulating, or the like, a stand-upwheelchair 102.

In an embodiment, a module includes a computer-readable media drive ormemory slot that is configured to accept signal-bearing medium (e.g.,computer-readable memory media, computer-readable recording media, orthe like). In an embodiment, a program for causing a system to executeany of the disclosed methods can be stored on, for example, acomputer-readable recording medium (CRMM), a signal-bearing medium, orthe like. Non-limiting examples of signal-bearing media include arecordable type medium such as a magnetic tape, floppy disk, a hard diskdrive, a Compact Disc (CD), a Digital Video Disk (DVD), Blu-Ray Disc, adigital tape, a computer memory, or the like, as well as transmissiontype medium such as a digital or an analog communication medium (e.g., afiber optic cable, a waveguide, a wired communications link, a wirelesscommunication link (e.g., receiver, transmitter, transceiver,transmission logic, reception logic, etc.). Further non-limitingexamples of signal-bearing media include, but are not limited to,DVD-ROM, DVD-RAM, DVD+RW, DVD-RW, DVD-R, DVD+R, CD-ROM, Super Audio CD,CD-R, CD+R, CD+RW, CD-RW, Video Compact Discs, Super Video Discs, flashmemory, magnetic tape, magneto-optic disk, MINIDISC, non-volatile memorycard, EEPROM, optical disk, optical storage, RAM, ROM, system memory,web server, or the like.

In an embodiment, the dynamic stability control module 126 is operableto activate a displacement of the one or more counter masses 122responsive to a change in a stability status of the stand-up wheelchair102. For example, in an embodiment, the dynamic stability control module126 includes circuitry for activating displacement of the one or morecounter masses 122 responsive to changes in a stand-up wheelchair 102yaw, pitch, or roll. In an embodiment, the dynamic stability controlmodule 126 is operable to activate a displacement of the one or morecounter masses 122 responsive to a stability status indicative of adetected change in a center of mass location. In an embodiment, thedynamic stability control module 126 is operable to activate adisplacement of the one or more counter masses 122 responsive to achange in configuration of the stand-up assembly 104.

In an embodiment, the dynamic stability control module 126 includes aplurality of counter masses 122 and circuitry for activatingdisplacement of at least one of the plurality of counter masses 122responsive to a configuration change of the stand-up assembly 104. Forexample, in an embodiment, the dynamic stability control module 126includes circuitry for activating a lock mechanism operable to unsecureone or more counter masses 122 responsive to detecting that the stand-upassembly 104 is transitioning between a first configuration and a secondconfiguration. In an embodiment, the dynamic stability control module126 includes circuitry for activating a latch mechanism operable tounlatch the one or more counter masses 122 responsive to a change inconfiguration of the stand-up assembly 104.

In an embodiment, the stand-up wheelchair 102 includes a power source110 operably coupled to the dynamic stability control module 126. In anembodiment, the dynamic stability control module 126 includes circuitryoperable to activate a displacement of the one or more counter masses122 responsive to a change in a stability status. For example, in anembodiment, the dynamic stability control module 126 includes circuitryfor activating displacement of the one or more counter masses 122responsive to a stability status indicative of a detected change in acenter of mass location. For example, in an embodiment, the dynamicstability control module 126 includes circuitry for activatingdisplacement of the one or more counter masses 122 responsive to astability status indicative of a detected change in a vertical center ofmass location. In an embodiment, the dynamic stability control module126 includes circuitry for activating displacement of the one or morecounter masses 122 responsive to a change in configuration of thestand-up assembly 104.

In an embodiment, the dynamic stability control module 126 includes aplurality of counter masses 122 and circuitry for activatingdisplacement of at least one of the plurality of counter masses inresponsive to a change in configuration of the stand-up assembly 104.For example, in an embodiment, the dynamic stability control module 126includes circuitry for activating a lock mechanisms operable to unsecureone or more counter masses 122 responsive to a change in configurationof the stand-up assembly 104. In an embodiment, the dynamic stabilitycontrol module 126 includes circuitry for activating a latch mechanismsoperable to unlatch the one or more counter masses 122 responsive to achange in configuration of the stand-up assembly 104.

In an embodiment, the dynamic stability control module 126 includescircuitry for activating displacement of one or more trim masses. Forexample, during operation, the stand-up assembly 104 is configured toengage or disengage one or more trim masses to balance a stand-upwheelchair 102 user's mass. In an embodiment, the stand-up assembly 104is configured to add or subtract one or more trim masses to balance astand-up wheelchair 102 user's mass. In an embodiment, the dynamicstability control module 126 includes circuitry for un-securing one ormore trim masses. In an embodiment, the dynamic stability control module126 includes circuitry for unlatching one or more trim masses. In anembodiment, the dynamic stability control module 126 includes circuitryfor actuating a displacement mechanism associated with one or more trimmasses. In an embodiment, the dynamic stability control module 126includes circuitry for actuating a locking mechanism associated with oneor more trim masses. In an embodiment, the dynamic stability controlmodule 126 includes circuitry for actuating a latching mechanismassociated with one or more trim masses.

In an embodiment, the one or more counter masses 122 operate in acounterweight arrangement, moving in opposition, responsive to detectedchanges in stability of the stand-up wheelchair 104. In an embodiment,the stand-up assembly 104 is configured to lock or unlock, via anelectro-mechanical component, the one or more counter masses 122responsive to detected changes in stability of the stand-up wheelchair104. In an embodiment, the stand-up assembly 104 is configured to latchor unlatch via an electro-mechanical component the one or more countermasses 122 responsive to detected changes in stability of the stand-upwheelchair 104.

In an embodiment, the dynamic stability control module 126 includescircuitry for activating displacement of the one or more counter masses122 responsive to a change in posture of a passenger of the stand-upwheel chair 102. In an embodiment, the dynamic stability control module126 includes circuitry for activating displacement of the one or morecounter masses 122 responsive to a change in a stability statusassociated with the stand-up assembly 104 transitioning between asitting configuration, a kneeling configuration, a reachingconfiguration, or a leaning configuration, and a substantially standingconfiguration.

In an embodiment, the dynamic stability control module 126 includescircuitry for activating displacement of the one or more counter masses122 responsive to detection of a target speed of the stand-up wheelchair102. In an embodiment, the dynamic stability control module 126 includescircuitry for activating displacement of the one or more counter masses122 responsive to detection of a target stand-up wheelchairacceleration. In an embodiment, the dynamic stability control module 126includes circuitry for activating displacement of the one or morecounter masses 122 responsive to detection of a stand-up wheelchairtarget tilt. In an embodiment, the dynamic stability control module 126includes circuitry for activating displacement of the one or morecounter masses 122 responsive to detection of a target stand-upwheelchair turning rate.

In an embodiment, the dynamic stability control module 126 includescircuitry for activating displacement of the one or more counter masses122, along a substantially vertical axis of the stand-up wheelchair 102,responsive to a detected change in a center of mass location. In anembodiment, the dynamic stability control module 126 includes circuitryfor activating displacement of the one or more counter masses 122, alonga substantially lateral axis of the stand-up wheelchair 102, responsiveto a detected change in a center of mass location. In an embodiment, thedynamic stability control module 126 includes circuitry for activatingdisplacement of the one or more counter masses 122, along asubstantially lateral axis of the stand-up wheelchair 102, responsive toa threshold target center of mass location.

In an embodiment, the dynamic stability control module 126 includescircuitry for activating displacement of a stand-up wheelchair payloadcomponent (e.g., a battery, a motor, a seat, a seatback, etc.), along asubstantially vertical axis of the stand-up wheelchair, responsive to achange in a stability status. In an embodiment, the dynamic stabilitycontrol module 126 includes circuitry for activating displacement of theone or more counter masses 122 along the substantially vertical axis ofthe stand-up wheelchair responsive to detection of a target speed. In anembodiment, the dynamic stability control module 126 includes circuitryfor activating displacement of the one or more counter masses 122 alongthe substantially vertical axis of the stand-up wheelchair responsive todetection of a stability status indicative of a stand-up wheelchairleaning, tipping, or tilting condition.

In an embodiment, the dynamic stability control module 126 includescircuitry for activating displacement of the one or more counter masses122 along the substantially vertical axis of the stand-up wheelchairresponsive to a configuration change of the stand-up assembly 104. In anembodiment, the dynamic stability control module 126 includes circuitryfor activating selective displacement of the one or more counter masses122 along the substantially vertical axis of the stand-up wheelchair. Inan embodiment, the dynamic stability control module 126 includescircuitry for generating a real-time stand-up wheelchair stabilitystatus indicative of a stand-up wheelchair center of mass location. Forexample, in an embodiment, the dynamic stability control module 126includes one or more sensors for detecting a mass distribution of thestand-up wheelchair 102.

In an embodiment, the dynamic stability control module 126 includescircuitry for generating a real-time stand-up wheelchair stabilitystatus indicative of a stand-up wheelchair mass distribution. In anembodiment, the dynamic stability control module 126 includes circuitryfor actuating the stand-up assembly 104 to transition between a lessstable configuration and a more stable configuration responsive to adetected change in a stability measure. In an embodiment, the dynamicstability control module 126 includes circuitry for causing the stand-upassembly 104 to retract responsive to a detected change in a stabilitymeasure.

In an embodiment, the system 100 includes a stand-up wheelchair 102having circuitry for activating the dynamic stability control module 126responsive to activation of stand-up wheelchair brake system. In anembodiment, the system 100 includes a stand-up wheelchair 102 havingcircuitry for activating the dynamic stability control module 126responsive to a change in a stand-up wheelchair brake system status. Inan embodiment, the system 100 includes a stand-up wheelchair 102 havingcircuitry for activating the dynamic stability control module 126responsive to activation of stand-up wheelchair propulsion system. In anembodiment, the system 100 includes a stand-up wheelchair 102 havingcircuitry for activating the dynamic stability control module 126responsive to activation of stand-up wheelchair steering mechanism.

In an embodiment, a stand-up wheelchair system 100 includes circuitryfor actuating a stand-up assembly 104 to transition between a firstconfiguration and a passenger-standing configuration. In an embodiment,the circuitry for actuating the stand-up assembly 104 includes circuitryfor actuating the stand-up assembly 104 to assist a passenger from asitting position, a kneeling position, a reaching position, or a leaningposition to a substantially standing position. For example, in anembodiment, the circuitry for actuating the stand-up assembly 104includes circuitry for actuating the stand-up assembly 104 to assist apassenger from a kneeling position to a substantially standing position.

In an embodiment, a stand-up wheelchair system 100 includes circuitryfor controlling a displacement of one or more counter masses 122responsive to a change in the stand-up wheelchair stability statusassociated with a transition between the first position and thesubstantially standing position. In an embodiment, the circuitry forcontrolling the displacement of the one or more counter masses 122includes one or more modules that automatically activate when thecircuitry for actuating the stand-up assembly 104 is activated. In anembodiment, the circuitry for controlling the displacement of the one ormore counter masses 122 is operable to activate displacement of the oneor more counter masses 122 responsive to a detected stand-up wheelchairstability status indicative of a change in configuration of a stand-upassembly 104 as it assists a passenger from a first position to asubstantially standing position. In an embodiment, the circuitry forcontrolling the displacement of the one or more counter masses 122includes circuitry for activating displacement of the one or morecounter masses 122 responsive to a detected change in stand-upwheelchair stability status indicative of an upward movement of avertical center of mass of the stand-up wheelchair. In an embodiment, astand-up wheelchair system 100 includes circuitry for actuating adisplacement of one or more counter masses 122 when the stand-upassembly 104 is transitioning from a sitting configuration to a standingconfiguration.

In an embodiment, a stand-up wheelchair system 100 includes circuitryfor generating a stand-up wheelchair stability status indicative of astand-up wheelchair center of mass location. In an embodiment, thecircuitry for generating a stand-up wheelchair stability status includesone or more sensors, sensor nodes, motes, or the like. Non-limitingexamples of sensors include weight sensor, moment of inertia sensor,sensors for determining a travel distance, travel-path sensors fordetecting a remote object along a travel path, accelerometers, or thelike. Further non-limiting examples of sensors include acoustic sensors,optical sensors, electromagnetic energy sensors, image sensors,photodiode arrays, charge-coupled devices (CCDs), complementarymetal-oxide-semiconductor (CMOS) devices, transducers, opticalrecognition sensors, infrared sensors, radio frequency componentssensors, thermo sensor, or the like. In an embodiment, the circuitry forgenerating a stand-up wheelchair stability status includes one or moresensors and is configured to detect a stand-up wheelchair center ofmass. In an embodiment, the circuitry for generating a stand-upwheelchair stability status includes one or more sensors and isconfigured to detect a location of stand-up wheelchair 102.

In an embodiment, the circuitry for generating the stand-up wheelchairstability status includes at least one weight sensor or moment ofinertia sensor. In an embodiment, the circuitry for controlling thedisplacement of the one or more counter masses 122 is operable toactivate displacement of the one or more counter masses 122 responsiveto measurements obtained from the weight sensor or moment of inertiasensor. In an embodiment, the circuitry for generating the stand-upwheelchair stability status includes one or more sensors for detecting astand-up wheelchair mass distribution. In an embodiment, the circuitryfor generating the stand-up wheelchair stability status includes one ormore load sensors. In an embodiment, the circuitry for generating thestand-up wheelchair stability status includes circuitry for generatingan estimate of the stand-up wheelchair center of gravity responsive toone or more sensor inputs indicative of stand-up wheelchair massdistribution.

In an embodiment, a stand-up wheelchair system 100 includes a stand-upassembly module 140 including circuitry for operating a stand-upassembly configured to support a passenger transitioning between asitting configuration and a standing configuration. In an embodiment, astand-up wheelchair system 100 includes a mass distribution module 142including circuitry for sensing a stand-up wheelchair mass distributionand for determining a stand-up wheelchair center of mass location. In anembodiment, a stand-up wheelchair system 100 includes a counter-massmodule 144 including circuitry for actuating a displacement of one ormore counter masses 122 selectively displaceable along at least asubstantially vertical axis responsive to changes in a stand-upwheelchair vertical center of mass location.

In an embodiment, at least one of the a stand-up assembly module 140,the mass distribution module 142, the counter-mass module 144, or anyother module, and the other devices disclosed herein operates in anetworked environment using connections to one or more remote computingdevices (e.g., a common network node, a network computer, a networknode, a peer device, a personal computer, a router, a server, a tabletPC, a tablet, etc.) and typically includes many or all of the elementsdescribed above. In an embodiment, the connections include connectionsto a local area network (LAN), a wide area network (WAN), or othernetworks. In an embodiment, the connections include connections to oneor more enterprise-wide computer networks, intranets, and the Internet.In an embodiment, a stand-up wheelchair system 100, a stand-upwheelchair 102, a dynamic stability control module 126, or the likeoperate in a cloud-computing environment including one or more cloudcomputing systems (e.g., private cloud computing systems, public cloudcomputing systems, hybrid cloud computing systems, or the like).

FIG. 2 shows a stand-up wheelchair system 100 in which one or moremethodologies or technologies can be implemented such as, for example,transporting and physically supporting an individual subject (e.g., apatient, a human subject, an animal subject, a user, a passenger, etc.),as well as assisting and supporting a user to transition between asitting position, a kneeling position, a reaching position, or a leaningposition, and a substantially standing position. In an embodiment, thestand-up wheelchair system 100 includes a stand-up wheelchair 102 havinga stand-up assembly 104. In an embodiment, the stand-up assembly 104includes an articulated structure movable from a sitting configuration,a kneeling configuration, a reaching configuration, or a leaningconfiguration, to a substantially standing configuration. In anembodiment, the stand-up assembly 104 is structured and dimensioned tosupport a passenger from a sitting position, a kneeling position, areaching position, or a leaning position, to a substantially standingposition. In an embodiment, the stand-up wheelchair system 100 includesa stand-up wheelchair 102 having a plurality of rotatable members 114operable to frictionally interface the stand-up wheelchair to a travelsurface and to move the stand-up wheelchair along the travel surface.

In an embodiment, the stand-up wheelchair 102 includes a gyroscopicstabilization assembly 202. In an embodiment, the gyroscopicstabilization assembly 202 includes at least one gyroscope 204 operableto apply a righting torque. For example, in an embodiment, thegyroscopic stabilization assembly 202 includes at least one gyroscope204 operable to apply a righting torque along one or more of atransverse axis, a longitudinal axis, and a vertical axis of thestand-up wheelchair 102.

In an embodiment, the gyroscopic stabilization assembly 202 includes atleast one gyroscope 204 having gimbal structure including at least onerotor 206 and at least one ring. In an embodiment, the gyroscopicstabilization assembly 202 includes at least one high-speed spinningrotor 206 that is supported by a gimbal structure including a pluralityof ring structures. In an embodiment, a rotor 206 is supported by thegimbal structure and is configure to pivot about an x, y, and z-axis.

In an embodiment, the rotor 206 is configured to spin at high speedsresulting in a gyroscopic torque that exerts a righting torque tocounteract an externally applied torque on the stand-up wheelchair 102.For example, during operation, when gimbal torque is applied to thegimbal structure, the rotor 206 generates an output torque in adirection substantially perpendicular to the gimbal torque. In anembodiment, the output torque is obtained from the cross product of thegyroscopic stabilization assembly's 202 angular momentum and the gimbalstructure's angular velocity. In an embodiment, during operation, theoutput torque is the direction counter to the externally applied torque,resulting in a net reduction in a change of angular motion of thestand-up wheelchair 102. In an embodiment, during operation, if thestand-up wheelchair 102 is tipped, tilted, destabilized, etc., thegimbal structure is configured to apply a righting torque to counteractan externally applied torque on the stand-up wheelchair 102.

In an embodiment, the stand-up wheelchair 102 includes circuitry forvarying a spin rate of the rotor 206. In an embodiment, the stand-upwheelchair 102 includes circuitry for varying a spin rate of the rotor206 responsive to changes in a stand-up wheelchair stability status. Inan embodiment, the stand-up wheelchair 102 includes circuitry forvarying a spin rate of the rotor 206 responsive to an externally appliedtorque. For example, during operation, the circuitry for varying thespin rate is operable to increase or decrease a spin rate of the rotor206 to vary a righting torque responsive to an externally appliedtorque. In an embodiment, the stand-up wheelchair 102 includes circuitryfor varying a spin rate of the rotor 206 responsive to changes in astand-up wheelchair center of mass location.

In an embodiment, the stand-up wheelchair 102 includes circuitry forvarying a spin direction of the rotor 206 responsive to an externallyapplied torque. In an embodiment, the stand-up wheelchair 102 includescircuitry for varying a spin direction of the rotor 206 responsive tochanges in a stand-up wheelchair stability status. In an embodiment, thestand-up wheelchair 102 includes circuitry for varying a spin directionof the rotor 206 responsive to changes in a stand-up wheelchair centerof mass location. In an embodiment, the gyroscopic stabilizationassembly 202 includes a rotor 206 operable to rotate about the spin axisresponsive to an externally applied torque.

In an embodiment, the gyroscopic stabilization assembly 202 includes aplurality of gimbal structures. In an embodiment, the gyroscopicstabilization assembly 202 includes at least one gyroscope 204 having aframe structure 210, an outer ring structure 212, and an inter ringstructure 214. In an embodiment, the gyroscopic stabilization assembly202 includes at least one gyroscope 204 having a spin axis (shown assegment XX′ in FIG. 2), an input axis (shown as line YY′ in FIG. 2), andan output axis (shown as line ZZ′ in FIG. 2).

In an embodiment, the gyroscopic stabilization assembly 202 isconfigured to have a spin axis alignable along a substantially verticalaxis of the stand-up wheelchair 102, an input axis alignable along asubstantially transverse axis of the stand-up wheelchair 102, and anoutput axis alignable along a substantially longitudinal axis of thestand-up wheelchair 102. In an embodiment, the gyroscopic stabilizationassembly 202 is configured to have a spin axis alignable along asubstantially longitudinal axis of the stand-up wheelchair 102, an inputaxis alignable along a substantially vertical axis of the stand-upwheelchair 102, and an output axis alignable along a substantiallytransverse axis of the stand-up wheelchair 102. In an embodiment, thegyroscopic stabilization assembly 202 is configured to have a spin axisalignable along a substantially transverse axis of the stand-upwheelchair 102, an input axis alignable along a substantiallylongitudinal axis of the stand-up wheelchair 102, and an output axisalignable along a substantially vertical axis of the stand-up wheelchair102. In an embodiment, the gyroscopic stabilization assembly 202 isconfigured to have a spin axis alignable along a substantially verticalaxis of the stand-up wheelchair 102, an input axis alignable along asubstantially longitudinal axis of the stand-up wheelchair 102, and anoutput axis alignable along a substantially transverse axis of thestand-up wheelchair 102. In an embodiment, the gyroscopic stabilizationassembly 202 is configured to have a spin axis alignable along asubstantially longitudinal axis of the stand-up wheelchair 102, an inputaxis alignable along a substantially transverse axis of the stand-upwheelchair 102, and an output axis alignable along a substantiallyvertical axis of the stand-up wheelchair 102. In an embodiment, thegyroscopic stabilization assembly 202 is configured to have a spin axisalignable along a substantially transverse axis of the stand-upwheelchair 102, an input axis alignable along a substantially verticalaxis of the stand-up wheelchair 102, and an output axis alignable alonga substantially longitudinal axis of the stand-up wheelchair 102.

In one embodiment, the stand-up wheelchair comprises two gyroscopesnominally mounted with similar or equal spin rates but with opposingspin axes (e.g., one along the negative longitudinal axis and the otheralong the positive longitudinal axis) so as to have a minimal netangular momentum. They can be in separate gyroscopic stabilizationassemblies or within the same gyroscopic stabilization assembly. Despitetheir opposing spins, these two gyroscopes can be used to generate a netrighting torque by gimbaling each in an opposite direction (e.g., bygimbaling one of the aforementioned gyroscopes clockwise around thevertical axis, and gimbaling the other one counterclockwise, we cangenerate a righting torque about the transverse axis).

In an embodiment, the gyroscopic stabilization assembly may beconfigured to reset the spin direction or the spin rate of one or moregyroscopes to a reference value (e.g., to a value before the gyroscopewas used to apply a righting torque). This can be done by reversing thegimbaling or spin rate changes used to generate the righting torque,thereby applying a negative righting torque to the standup wheelchair.In order to avoid having this negative righting torque destabilize thestandup wheelchair it can be applied at a lower magnitude and responsiveto a detected stability value of the standup wheelchair. In anembodiment, the stability value can be based on a center-of-masslocation (e.g., below a vertical threshold value), on a configuration ofthe stand-up assembly (e.g., in a sitting position), onspeed/acceleration/tilt values for the standup wheelchair, etc. In anembodiment, the negative righting torque may be applied at a lowermagnitude, but over a longer time duration, than the original rightingtorque so as to adequately reset the angular momentum (direction and/orspin rate) of the gyroscope.

In an embodiment, the gyroscopic stabilization assembly 202 isresponsive to a change in a stand-up wheelchair center of mass location.For example, in an embodiment, the gyroscopic stabilization assembly 202is responsive to a change in a stand-up wheelchair vertical center ofmass location. In an embodiment, the gyroscopic stabilization assembly202 includes a rotor 206 operable to apply a righting torque on thestand-up assembly 104 structure responsive to a change in a stand-upwheelchair center of mass location. In an embodiment, the gyroscopicstabilization assembly 202 includes a rotor 206 operable to apply arighting torque on the stand-up assembly 104 structured responsive to achange in a stand-up wheelchair center of mass location.

In an embodiment, the stand-up wheelchair system 100 includes a stand-upwheelchair 102 having a dynamic stability controller 208 operablycoupled to the gyroscopic stabilization assembly 202. In an embodiment,the dynamic stability controller 208 is operable to cause the gyroscopicstabilization assembly 202 to precess about the output axis responsiveto a change in an applied torque. In an embodiment, the dynamicstability controller 208 is operably coupled to a selectively tiltableand retractable passenger support structure, and is operable to causethe gyroscopic stabilization assembly 202 to precess about the outputaxis responsive changes in configuration of the tiltable and retractablepassenger support structure.

In an embodiment, the dynamic stability controller 208 includescircuitry operable to cause a passenger support structure to tilt orretract responsive to a change in an applied torque. In an embodiment,the dynamic stability controller 208 includes circuitry for activatingthe gyroscopic stabilization assembly 202 to apply the righting torqueresponsive to an applied torque.

In an embodiment, the dynamic stability controller 208 includescircuitry for activating the gyroscopic stabilization assembly 202responsive to a change in configuration of the stand-up assembly 104assisting a passenger from a sitting position, a kneeling position, areaching position, or a leaning position, to a substantially standingposition. In an embodiment, the dynamic stability controller 208includes circuitry for activating the gyroscopic stabilization assembly202 to apply a righting torque responsive to a change in configurationof the stand-up assembly 104.

In an embodiment, the dynamic stability controller 208 includescircuitry for activating application of a righting torque responsive toa change in a stand-up wheelchair 102 yaw, pitch, or roll. For example,in an embodiment, the dynamic stability controller 208 includescircuitry for activating the gyroscopic stabilization assembly 202 toapply a righting torque responsive to a change in a stand-up wheelchair102 yaw, pitch, or roll. In an embodiment, the dynamic stabilitycontroller 208 includes circuitry for activating the gyroscopicstabilization assembly 202 to apply a righting torque responsive to achange in a measured tilt of the stand-up wheelchair 102. In anembodiment, the dynamic stability controller 208 includes circuitry foractivating the gyroscopic stabilization assembly 202 to apply a rightingtorque responsive to a change in a target tilt of the stand-upwheelchair 102.

In an embodiment, the dynamic stability controller 208 includescircuitry for detecting an externally applied torque. In an embodiment,the dynamic stability controller 208 includes one or more sensors fordetecting an externally applied torque. For example, in an embodiment,the dynamic stability controller 208 includes one or more gyroscopicsensor for detecting an externally applied torque.

In an embodiment, the stand-up wheelchair system 100 includes a stand-upwheelchair 102 having a biomechanical-energy harvesting generatoroperably coupled to one or more of the plurality of rotatable members,the biomechanical-energy harvesting generator configured to convertkinetic energy from rotation of the one or more of the plurality ofrotatable members 114 to electricity. In an embodiment, the stand-upwheelchair system 100 includes a stand-up wheelchair 102 having abiomechanical-energy harvesting generator operably coupled to an energystore.

In an embodiment, the stand-up wheelchair system 100 includes a stand-upwheelchair 102 having a travel route module 146 including circuitryoperable to generate travel route status information. In an embodiment,the travel route module 146 includes circuitry operable to acquiretravel-route status information, the travel-route status information tobe acquired including one or more of travel-route traffic information,travel-route obstacle location information, travel-route mapinformation, or travel-route geographical location information;travel-route surface information. In an embodiment, the travel routemodule 146 includes circuitry operable to acquire travel-route statusinformation from a remote network. In an embodiment, the travel routemodule 146 includes circuitry operable to acquire travel-route, stand-upwheelchair 102, access information from a remote network. In anembodiment, the travel route module 146 includes circuitry operable toacquire pedestrian traffic information from a remote network. In anembodiment, the travel route module 146 includes circuitry operable togenerate real-time travel route status information responsive to aninput indicated of a change to a travel-route status.

In an embodiment, the stand-up wheelchair system 100 includes one ormore modules that communicate with one or more travel-path sensor 128that informed the circuitry for actuating the stand-up assembly 104regarding, for example, object (shelves, fixtures, appliances, etc.),object location, object identification, or the like. In embodiment,during operation, the stand-up wheelchair system 100 communicates withone or more travel-path sensor 128 to determine a target configuration(e.g., sitting configuration, kneeling configuration, reachingconfiguration, leaning configuration, standing configuration, etc.) forthe stand-up assembly 104. In an embodiment, a stand-up wheelchairsystem 100 includes circuitry for determining a target transition forthe stand-up assembly 104.

In an embodiment, the stand-up wheelchair system 100 includes a stand-upwheelchair 102 having virtual object generator 148 operably coupled tothe ravel route module 146, the virtual object generator 148 includingcircuitry for generating a virtual representation of travel route statusinformation on a virtual display.

In an embodiment, the stand-up wheelchair system 100 includes circuitryfor actuating a gyroscopic stabilization assembly 202 having at leastone gyroscope operable to apply a righting torque along one or more of atransverse axis, a longitudinal axis, and a vertical axis of thestand-up wheelchair responsive to changes in a stand-up wheelchairvertical center of mass location. In an embodiment, the stand-upwheelchair system 100 includes circuitry for actuating a stand-upassembly 104 configured to support a passenger transitioning from asitting configuration to a standing configuration. In an embodiment, thestand-up wheelchair system 100 includes circuitry for sensing a stand-upwheelchair 102 mass distribution and for determining a stand-upwheelchair 102 center of mass location. In an embodiment, the circuitryfor activating the gyroscopic stabilization assembly includes a velocitysensor operable to detect a velocity of the stand-up wheelchair. In anembodiment, the circuitry for sensing the stand-up wheelchair massdistribution includes one or more mass sensor operable to detect a massdistribution of the stand-up wheelchair. In an embodiment, the circuitryfor actuating rotation of the rotor 206 about the first axis is operableto actuate rotation of the rotor 206 responsive to a detected change inthe mass distribution of the stand-up wheelchair.

In an embodiment, the circuitry for actuating a gyroscopic stabilizationassembly 202 is operable to actuate the gyroscopic stabilizationassembly 202 responsive to a detected change in acceleration of thestand-up wheelchair. In an embodiment, the circuitry for activating thegyroscopic stabilization assembly includes one or more angular velocitysensors. In an embodiment, the circuitry for actuating rotation of therotor 206 about the first axis includes circuitry for actuating rotationof the rotor 206 about the first axis responsive to a detected change inangular velocity.

In an embodiment, the stand-up wheelchair system 100 includes a stand-upwheelchair 102 having circuitry for harvesting kinetic energy fromrotation of the one or more of the plurality of rotatable members 114.

In an embodiment, the stand-up wheelchair system 100 includes a stand-upassembly module including circuitry for actuating a stand-up assembly104 to transition from a first configuration to a second configuration(e.g., from a sitting configuration to a standing configuration, from astanding configuration to a sitting configuration, from a leaningconfiguration to a sitting configuration, etc.). In an embodiment, thestand-up wheelchair system 100 includes a mass distribution moduleincluding circuitry for sensing a stand-up wheelchair mass distributionand for determining a stand-up wheelchair vertical center of masslocation. In an embodiment, the stand-up wheelchair system 100 includesa gyroscopic stabilizer module including circuitry for actuating agyroscope responsive to a detected change in a stand-up wheelchair massdistribution or a stand-up wheelchair vertical center of mass location.

FIG. 3 shows a stand-up wheelchair system 100 in which one or moremethodologies or technologies can be implemented such as, for example,transporting and physically supporting an individual subject (e.g., apatient, a human subject, an animal subject, a user, a passenger, etc.),as well as assisting and supporting a user to transition between asitting position, a kneeling position, a reaching position, or a leaningposition, and a substantially standing position. In an embodiment, thestand-up wheelchair system 100 includes a stand-up wheelchair 102 havinga stand-up assembly 104. In an embodiment the a stand-up assembly 104includes an articulated structure movable between a sittingconfiguration, a kneeling configuration, a reaching configuration, aleaning configuration, or a standing configuration and a different oneof a sitting configuration, a kneeling configuration, a reachingconfiguration, a leaning configuration, or a standing configuration. Inan embodiment, the stand-up assembly 104 is structured and dimensionedto support a passenger transitioning between a sitting position, areaching position, a leaning position, or standing position and adifferent one of a sitting position, a kneeling position, a reachingposition, or a leaning position, and a standing position. In anembodiment, the stand-up wheelchair system 100 includes a stand-upwheelchair 102 having a plurality of rotatable members 114 operable tofrictionally interface the stand-up wheelchair 102 to a travel surfaceand to move the stand-up wheelchair along the travel surface.

In an embodiment, the stand-up wheelchair system 100 includes astabilization assembly 302 having one or more flywheels 304, 306operable to apply a righting torque along one or more of a transverseaxis, a longitudinal axis, a vertical axis of the stand-up wheelchair,or combinations thereof. In an embodiment, the stand-up wheelchairsystem 100 includes a stabilization assembly 302 having one or moreflywheels 304, 306 operable to apply a righting torque along one or moreof a transverse axis, a longitudinal axis, a vertical axis of thestand-up wheelchair, or combinations thereof. In an embodiment, thestand-up wheelchair system 100 includes a dynamic stability controller208 operably coupled to the stabilization assembly 302, the dynamicstability controller 208 operable to cause one or more flywheels 304,306 to spin responsive to an externally applied torque or a change in anexternally applied torque. In an embodiment, the stabilization assembly302 includes at least two flywheels 304, 306 and is operable to apply atleast a first righting torque and a second righting torque alongnon-collinear axes.

In an embodiment, the stand-up wheelchair system 100 includes a stand-upwheelchair 102 having one or more sensors for detecting an externallyapplied torque on the stand-up wheelchair. In an embodiment, the dynamicstability controller 208 is operable to actuate at least two flywheels304, 306 responsive to a detected change in stability of the stand-upwheelchair 102. For example, in an embodiment, the dynamic stabilitycontroller 208 is operable to actuate at least two of flywheels 304, 306so as to apply at least a first righting torque and a second rightingtorque along non-collinear axes responsive to an externally appliedtorque. In an embodiment, the dynamic stability controller 208 includesa circuitry for varying a spin rate of at least one flywheel 304, 306responsive to an externally applied torque. In an embodiment, thedynamic stability controller 208 includes a circuitry for varying a spindirection of at least one flywheel 304, 306 responsive to an externallyapplied torque. In an embodiment, the stand-up wheelchair system 100includes a stand-up wheelchair 102 having one or more sensors fordetecting a magnitude and direction of an angular velocity of at leastone flywheel 304, 306.

In an embodiment, a stand-up wheelchair system 100 includes circuitryfor actuating a stand-up assembly 104 configured to support a passengertransitioning between a sitting position, a kneeling position, areaching position, or a leaning position, and a substantially standingposition.

In an embodiment, the stand-up wheelchair system 100 includes circuitryfor sensing a stand-up wheelchair mass distribution and for determininga stand-up wheelchair center of mass location. In an embodiment, thestand-up wheelchair system 100 includes circuitry for actuating rotationof at least a first flywheel 304 about a first axis responsive tochanges in a stand-up wheelchair center of mass location. In anembodiment, the stand-up wheelchair system 100 includes circuitry foractuating rotation of at least a first flywheel 304 about a first axisresponsive to changes in a stand-up wheelchair mass distribution. In anembodiment, the stand-up wheelchair system 100 includes circuitry foractuating rotation of at least a second flywheel 306 about a second axisresponsive to changes in a stand-up wheelchair mass distribution. In anembodiment, the stand-up wheelchair system 100 includes circuitry foractuating rotation of at least a second flywheel 306 about a second axisresponsive to changes in a stand-up wheelchair center of mass location.

In an embodiment, the stand-up wheelchair system 100 includes circuitryfor actuating rotation of at least a second flywheel 306 about a secondaxis different from the first axis responsive to changes in a stand-upwheelchair center of mass location. In an embodiment, the stand-upwheelchair system 100 includes circuitry for actuating rotation of atleast a third flywheel about a third axis responsive to changes in astand-up wheelchair center of mass location. In an embodiment, thestand-up wheelchair system 100 includes circuitry for actuating rotationof at least a third flywheel about a third axis different from the firstaxis and the second axis responsive to changes in a stand-up wheelchaircenter of mass location.

In an embodiment, the stand-up wheelchair system 100 includes circuitryfor detecting a change in a stand-up wheelchair speed. In an embodiment,the stand-up wheelchair system 100 includes circuitry for detecting achange in a target stand-up wheelchair acceleration. In an embodiment,the stand-up wheelchair system 100 includes circuitry for detecting achange in a stand-up wheelchair tilt.

In an embodiment, the stand-up wheelchair system 100 includes circuitryfor detecting an externally applied torque. In an embodiment, thestand-up wheelchair system 100 includes circuitry for actuating torqueabout at least one of a transverse axis, a longitudinal axis, or avertical axis of the stand-up wheelchair. For example, in an embodiment,the stand-up wheelchair system 100 includes circuitry for varying a spinrate of the at least first flywheel 304 about the first axis responsiveto changes in a stand-up wheelchair center of mass location. In anembodiment, the stand-up wheelchair system 100 includes circuitry forvarying a spin direction of the at least first flywheel 304 about thefirst axis responsive to changes in a stand-up wheelchair center of masslocation.

FIG. 4 shows a method 400 of method of operating a stand-up wheelchair.At 410, the method 400 includes actuating a stand-up assembly 104configured to transition between a first configuration and a standingconfiguration.

At 412, actuating the stand-up assembly 104 includes actuating thestand-up assembly 104 to transition from a kneeling configuration to asubstantially standing configuration. At 414, actuating the stand-upassembly 104 includes actuating the stand-up assembly 104 to transitionfrom a sitting configuration, a kneeling configuration, a reachingconfiguration, or a leaning configuration, to a substantially standingconfiguration.

At 420, the method 400 includes actuating a displacement of one or morecounter masses 122 responsive to changes in a stand-up wheelchairvertical center of mass location associated with a transition from thefirst configuration to the standing configuration. At 422, actuating thedisplacement of one or more counter masses 122 includes activatingdisplacement of one or more counter masses 122 along a substantiallyvertical axis of the stand-up wheelchair. At 424, actuating thedisplacement of one or more counter masses 122 includes activatingdisplacement of at least one mass along a substantially vertical axis ofthe stand-up wheelchair and at least one mass along a substantiallytransverse axis of the stand-up wheelchair. At 426, actuating thedisplacement of one or more counter masses 122 includes activatingdisplacement of a stand-up wheelchair payload component along asubstantially vertical axis of the stand-up wheelchair.

At 430, the method 400 includes generating a stand-up wheelchairstability status indicative of a stand-up wheelchair center of masslocation based on one or more sensor inputs. At 440, the method 400includes actuating a displacement of one or more counter masses 122responsive to changes in the stand-up wheelchair stability status.

FIG. 5 shows a method 500 of method of operating a stand-up wheelchair.At 510, the method 500 includes actuating a stand-up assembly 104operable to support a passenger transitioning from a first configurationto a standing configuration. At 512, actuating the stand-up assembly 104includes actuating the stand-up assembly 104 to transition from asitting configuration to a standing configuration. At 514, actuating thestand-up assembly 104 includes actuating the stand-up assembly 104 totransition from a kneeling configuration to a standing configuration. At516, actuating the stand-up assembly 104 includes actuating the stand-upassembly 104 to transition from a reaching configuration to standingconfiguration. At 518, actuating the stand-up assembly 104 includesactuating the stand-up assembly 104 to transition from a leaningconfiguration to a standing configuration.

At 520, the method 500 includes determining a stand-up wheelchair centerof mass location. At 522, determining the stand-up wheelchair massdistribution includes determining a stand-up wheelchair vertical centerof mass location; and applying the righting torque includes applying arighting torque responsive to changes in a stand-up wheelchair verticalcenter of mass location.

At 530, the method 500 includes applying a righting torque responsive tochanges in a stand-up wheelchair center of mass location. At 532,applying a righting torque includes actuating an angular-momentum-basedstabilizer responsive to changes in a stand-up wheelchair center of masslocation. At 534, applying a righting torque includes actuating agyroscope stabilizer responsive to changes in a stand-up wheelchaircenter of mass location. At 536, applying a righting torque includesactuating rotation of a flywheel about a first axis responsive tochanges in a stand-up wheelchair center of mass location. At 538,applying a righting torque includes actuating rotation of at least afirst flywheel 304 about a first axis and actuating rotation of a secondflywheel 306 about a second axis, responsive to changes in a stand-upwheelchair center of mass location, the second axis different from thefirst axis.

FIG. 6 shows a method 600 of method of operating a stand-up wheelchair.At 610, the method 600 includes actuating a stand-up assembly 104configured to support a passenger transitioning from a firstconfiguration to a standing configuration. At 620, the method 600includes actuating an angular-momentum-based stabilizer responsive to anapplied torque associated with a stand-up assembly 104 transitioningfrom a first configuration to a standing configuration. At 622,actuating the angular-momentum-based stabilizer includes activatingrotation of one or more flywheels 304, 306. At 624, actuating theangular-momentum-based stabilizer includes varying a rotation rate ofone or more flywheels 304, 306 responsive to an externally appliedtorque. At 626, actuating the angular-momentum-based stabilizer includesvarying a rotation direction of one or more flywheels 304, 306responsive to an externally applied torque. At 628, actuating theangular-momentum-based stabilizer includes activating at least oneflywheel to precess about the output axis responsive to an externallyapplied torque. At 630, the method 600 includes actuating anangular-momentum-based stabilizer responsive to detecting a change in astand-up wheelchair speed. At 640, the method 600 includes actuating anangular-momentum-based stabilizer responsive to detecting a change in atarget stand-up wheelchair acceleration. At 650, the method 600 includesactuating an angular-momentum-based stabilizer responsive to detecting achange in a stand-up wheelchair tilt.

FIG. 7 shows a method 700 of method of operating a stand-up wheelchair.At 710, the method 700 includes actuating a stand-up assembly 104configured to support a passenger transitioning between a firstconfiguration and a second configuration, the first configuration one ofa sitting configuration, a kneeling configuration, a reachingconfiguration, a leaning configuration, or a standing configuration, thesecond configuration a different one of a sitting configuration, akneeling configuration, a reaching configuration, a leaningconfiguration, or a standing configuration. At 720, the method 700includes determining a stand-up wheelchair center of mass location.

At 730, the method 700 includes applying a righting torque responsive tochanges in a stand-up wheelchair center of mass location. At 732,applying a righting torque includes actuating rotation of a firstflywheel 304 about a first axis responsive to changes in a stand-upwheelchair center of mass location. At 734, applying a righting torqueincludes actuating rotation of a first flywheel 304 about a first axisand actuating rotation of a second flywheel 306 about a second axis,responsive to changes in a stand-up wheelchair center of mass location,the second axis different from the first axis.

In an embodiment, the method 700 includes detecting a stability valuefor the stand-up wheelchair, and in response applying a negativerighting torque. In an embodiment, applying the negative righting torqueincludes applying a negative righting torque selected to not destabilizethe standup wheelchair. In an embodiment, applying the negative rightingtorque includes applying a negative righting for a time sufficient toreset a spin direction of a gyroscope used to apply the righting torque.In an embodiment, applying the negative righting torque includesapplying a negative righting for a time sufficient to a spin rate of agyroscope used to apply the righting torque.

It is noted that FIGS. 4-7 denotes “start” and “end” positions. However,nothing herein should be construed to indicate that these are limitingand it is contemplated that other or additional steps or functions canoccur before or after those described in FIGS. 4-7.

The claims, description, and drawings of this application may describeone or more of the instant technologies in operational/functionallanguage, for example as a set of operations to be performed by acomputer. Such operational/functional description in most instances canbe specifically-configured hardware (e.g., because a general purposecomputer in effect becomes a special purpose computer once it isprogrammed to perform particular functions pursuant to instructions fromprogram software).

Importantly, although the operational/functional descriptions describedherein are understandable by the human mind, they are not abstract ideasof the operations/functions divorced from computational implementationof those operations/functions. Rather, the operations/functionsrepresent a specification for the massively complex computationalmachines or other means. As discussed in detail below, theoperational/functional language must be read in its proper technologicalcontext, i.e., as concrete specifications for physical implementations.

The logical operations/functions described herein are a distillation ofmachine specifications or other physical mechanisms specified by theoperations/functions such that the otherwise inscrutable machinespecifications may be comprehensible to the human mind. The distillationalso allows one of skill in the art to adapt the operational/functionaldescription of the technology across many different specific vendors'hardware configurations or platforms, without being limited to specificvendors' hardware configurations or platforms.

Some of the present technical description (e.g., detailed description,drawings, claims, etc.) may be set forth in terms of logicaloperations/functions. As described in more detail in the followingparagraphs, these logical operations/functions are not representationsof abstract ideas, but rather representative of static or sequencedspecifications of various hardware elements. Differently stated, unlesscontext dictates otherwise, the logical operations/functions arerepresentative of static or sequenced specifications of various hardwareelements. This is true because tools available to implement technicaldisclosures set forth in operational/functional formats—tools in theform of a high-level programming language (e.g., C, java, visual basic),etc.), or tools in the form of Very high speed Hardware DescriptionLanguage (“VIDAL,” which is a language that uses text to describe logiccircuits-)—are generators of static or sequenced specifications ofvarious hardware configurations. This fact is sometimes obscured by thebroad term “software,” but, as shown by the following explanation, whatis termed “software” is a shorthand for a massively complexinterchanging/specification of ordered-matter elements. The term“ordered-matter elements” may refer to physical components ofcomputation, such as assemblies of electronic logic gates, molecularcomputing logic constituents, quantum computing mechanisms, etc.

For example, a high-level programming language is a programming languagewith strong abstraction, e.g., multiple levels of abstraction, from thedetails of the sequential organizations, states, inputs, outputs, etc.,of the machines that a high-level programming language actuallyspecifies. See, e.g., Wikipedia, High-level programming language,available at the websiteen.wikipedia.org/wiki/High-level_programming_language (as of Jun. 5,2012, 21:00 GMT). In order to facilitate human comprehension, in manyinstances, high-level programming languages resemble or even sharesymbols with natural languages. See, e.g., Wikipedia, Natural language,available at the website en.wikipedia.org/wiki/Natural_language (as ofJun. 5, 2012, 21:00 GMT).

It has been argued that because high-level programming languages usestrong abstraction (e.g., that they may resemble or share symbols withnatural languages), they are therefore a “purely mental construct”(e.g., that “software”—a computer program or computer-programming—issomehow an ineffable mental construct, because at a high level ofabstraction, it can be conceived and understood in the human mind). Thisargument has been used to characterize technical description in the formof functions/operations as somehow “abstract ideas.” In fact, intechnological arts (e.g., the information and communicationtechnologies) this is not true.

The fact that high-level programming languages use strong abstraction tofacilitate human understanding should not be taken as an indication thatwhat is expressed is an abstract idea. In an embodiment, if a high-levelprogramming language is the tool used to implement a technicaldisclosure in the form of functions/operations, it can be understoodthat, far from being abstract, imprecise, “fuzzy,” or “mental” in anysignificant semantic sense, such a tool is instead a nearincomprehensibly precise sequential specification of specificcomputational—machines—the parts of which are built up byactivating/selecting such parts from typically more generalcomputational machines over time (e.g., clocked time). This fact issometimes obscured by the superficial similarities between high-levelprogramming languages and natural languages. These superficialsimilarities also may cause a glossing over of the fact that high-levelprogramming language implementations ultimately perform valuable work bycreating/controlling many different computational machines.

The many different computational machines that a high-level programminglanguage specifies are almost unimaginably complex. At base, thehardware used in the computational machines typically consists of sometype of ordered matter (e.g., traditional electronic devices (e.g.,transistors), deoxyribonucleic acid (DNA), quantum devices, mechanicalswitches, optics, fluidics, pneumatics, optical devices (e.g., opticalinterference devices), molecules, etc.) that are arranged to form logicgates. Logic gates are typically physical devices that may beelectrically, mechanically, chemically, or otherwise driven to changephysical state in order to create a physical reality of Boolean logic.

Logic gates may be arranged to form logic circuits, which are typicallyphysical devices that may be electrically, mechanically, chemically, orotherwise driven to create a physical reality of certain logicalfunctions. Types of logic circuits include such devices as multiplexers,registers, arithmetic logic units (ALUs), computer memory devices, etc.,each type of which may be combined to form yet other types of physicaldevices, such as a central processing unit (CPU)—the best known of whichis the microprocessor. A modern microprocessor will often contain morethan one hundred million logic gates in its many logic circuits (andoften more than a billion transistors). See, e.g., Wikipedia, Logicgates, available at the website en.wikipedia.org/wiki/Logic_gates (as ofJun. 5, 2012, 21:03 GMT).

The logic circuits forming the microprocessor are arranged to provide amicroarchitecture that will carry out the instructions defined by thatmicroprocessor's defined Instruction Set Architecture. The InstructionSet Architecture is the part of the microprocessor architecture relatedto programming, including the native data types, instructions,registers, addressing modes, memory architecture, interrupt andexception handling, and external Input/Output. See, e.g., Wikipedia,Computer architecture, available at the websiteen.wikipedia.org/wiki/Computer_architecture (as of Jun. 5, 2012, 21:03GMT).

The Instruction Set Architecture includes a specification of the machinelanguage that can be used by programmers to use/control themicroprocessor. Since the machine language instructions are such thatthey may be executed directly by the microprocessor, typically theyconsist of strings of binary digits, or bits. For example, a typicalmachine language instruction might be many bits long (e.g., 32, 64, or128 bit strings are currently common). A typical machine languageinstruction might take the form “11110000101011110000111100111111” (a 32bit instruction).

It is significant here that, although the machine language instructionsare written as sequences of binary digits, in actuality those binarydigits specify physical reality. For example, if certain semiconductorsare used to make the operations of Boolean logic a physical reality, theapparently mathematical bits “1” and “0” in a machine languageinstruction actually constitute a shorthand that specifies theapplication of specific voltages to specific wires. For example, in somesemiconductor technologies, the binary number “1” (e.g., logical “1”) ina machine language instruction specifies around +5 volts applied to aspecific “wire” (e.g., metallic traces on a printed circuit board) andthe binary number “0” (e.g., logical “0”) in a machine languageinstruction specifies around −5 volts applied to a specific “wire.” Inaddition to specifying voltages of the machines' configuration, suchmachine language instructions also select out and activate specificgroupings of logic gates from the millions of logic gates of the moregeneral machine. Thus, far from abstract mathematical expressions,machine language instruction programs, even though written as a stringof zeros and ones, specify many, many constructed physical machines orphysical machine states.

Machine language is typically incomprehensible by most humans (e.g., theabove example was just ONE instruction, and some personal computersexecute more than two billion instructions every second). See, e.g.,Wikipedia, Instructions per second, available at the websiteen.wikipedia.org/wiki/Instructions_per_second (as of Jun. 5, 2012, 21:04GMT).

Thus, programs written in machine language—which may be tens of millionsof machine language instructions long—are incomprehensible. In view ofthis, early assembly languages were developed that used mnemonic codesto refer to machine language instructions, rather than using the machinelanguage instructions' numeric values directly (e.g., for performing amultiplication operation, programmers coded the abbreviation “mult,”which represents the binary number “011000” in MIPS machine code). Whileassembly languages were initially a great aid to humans controlling themicroprocessors to perform work, in time the complexity of the work thatneeded to be done by the humans outstripped the ability of humans tocontrol the microprocessors using merely assembly languages.

At this point, it was noted that the same tasks needed to be done overand over, and the machine language necessary to do those repetitivetasks was the same. In view of this, compilers were created. A compileris a device that takes a statement that is more comprehensible to ahuman than either machine or assembly language, such as “add 2+2 andoutput the result,” and translates that human understandable statementinto a complicated, tedious, and immense machine language code (e.g.,millions of 32, 64, or 128 bit length strings). Compilers thus translatehigh-level programming language into machine language.

This compiled machine language, as described above, is then used as thetechnical specification which sequentially constructs and causes theinteroperation of many different computational machines such thathumanly useful, tangible, and concrete work is done. For example, asindicated above, such machine language—the compiled version of thehigher-level language—functions as a technical specification whichselects out hardware logic gates, specifies voltage levels, voltagetransition timings, etc., such that the humanly useful work isaccomplished by the hardware.

Thus, a functional/operational technical description, when viewed by oneof skill in the art, is far from an abstract idea. Rather, such afunctional/operational technical description, when understood throughthe tools available in the art such as those just described, is insteadunderstood to be a humanly understandable representation of a hardwarespecification, the complexity and specificity of which far exceeds thecomprehension of most any one human. Accordingly, any suchoperational/functional technical descriptions may be understood asoperations made into physical reality by (a) one or more interchainedphysical machines, (b) interchained logic gates configured to create oneor more physical machine(s) representative of sequential/combinatoriallogic(s), (c) interchained ordered matter making up logic gates (e.g.,interchained electronic devices (e.g., transistors), DNA, quantumdevices, mechanical switches, optics, fluidics, pneumatics, molecules,etc.) that create physical reality representative of logic(s), or (d)virtually any combination of the foregoing. Indeed, any physical objectwhich has a stable, measurable, and changeable state may be used toconstruct a machine based on the above technical description. CharlesBabbage, for example, constructed the first computer out of wood andpowered by cranking a handle.

Thus, far from being understood as an abstract idea, it can berecognizes that a functional/operational technical description as ahumanly-understandable representation of one or more almost unimaginablycomplex and time sequenced hardware instantiations. The fact thatfunctional/operational technical descriptions might lend themselvesreadily to high-level computing languages (or high-level block diagramsfor that matter) that share some words, structures, phrases, etc. withnatural language simply cannot be taken as an indication that suchfunctional/operational technical descriptions are abstract ideas, ormere expressions of abstract ideas. In fact, as outlined herein, in thetechnological arts this is simply not true. When viewed through thetools available to those of skill in the art, suchfunctional/operational technical descriptions are seen as specifyinghardware configurations of almost unimaginable complexity.

As outlined above, the reason for the use of functional/operationaltechnical descriptions is at least twofold. First, the use offunctional/operational technical descriptions allows near-infinitelycomplex machines and machine operations arising from interchainedhardware elements to be described in a manner that the human mind canprocess (e.g., by mimicking natural language and logical narrativeflow). Second, the use of functional/operational technical descriptionsassists the person of skill in the art in understanding the describedsubject matter by providing a description that is more or lessindependent of any specific vendor's piece(s) of hardware.

The use of functional/operational technical descriptions assists theperson of skill in the art in understanding the described subject mattersince, as is evident from the above discussion, one could easily,although not quickly, transcribe the technical descriptions set forth inthis document as trillions of ones and zeroes, billions of single linesof assembly-level machine code, millions of logic gates, thousands ofgate arrays, or any number of intermediate levels of abstractions.However, if any such low-level technical descriptions were to replacethe present technical description, a person of skill in the art couldencounter undue difficulty in implementing the disclosure, because sucha low-level technical description would likely add complexity without acorresponding benefit (e.g., by describing the subject matter utilizingthe conventions of one or more vendor-specific pieces of hardware).Thus, the use of functional/operational technical descriptions assiststhose of skill in the art by separating the technical descriptions fromthe conventions of any vendor-specific piece of hardware.

In view of the foregoing, the logical operations/functions set forth inthe present technical description are representative of static orsequenced specifications of various ordered-matter elements, in orderthat such specifications may be comprehensible to the human mind andadaptable to create many various hardware configurations. The logicaloperations/functions disclosed herein should be treated as such, andshould not be disparagingly characterized as abstract ideas merelybecause the specifications they represent are presented in a manner thatone of skill in the art can readily understand and apply in a mannerindependent of a specific vendor's hardware implementation.

At least a portion of the devices or processes described herein can beintegrated into an information processing system. An informationprocessing system generally includes one or more of a system unithousing, a video display device, memory, such as volatile ornon-volatile memory, processors such as microprocessors or digitalsignal processors, computational entities such as operating systems,drivers, graphical user interfaces, and applications programs, one ormore interaction devices (e.g., a touch pad, a touch screen, an antenna,etc.), or control systems including feedback loops and control motors(e.g., feedback for detecting position or velocity, control motors formoving or adjusting components or quantities). An information processingsystem can be implemented utilizing suitable commercially availablecomponents, such as those typically found in datacomputing/communication or network computing/communication systems.

The state of the art has progressed to the point where there is littledistinction left between hardware and software implementations ofaspects of systems; the use of hardware or software is generally (butnot always, in that in certain contexts the choice between hardware andsoftware can become significant) a design choice representing cost vs.efficiency tradeoffs. Various vehicles by which processes or systems orother technologies described herein can be effected (e.g., hardware,software, firmware, etc., in one or more machines or articles ofmanufacture), and that the preferred vehicle will vary with the contextin which the processes, systems, other technologies, etc., are deployed.For example, if an implementer determines that speed and accuracy areparamount, the implementer may opt for a mainly hardware or firmwarevehicle; alternatively, if flexibility is paramount, the implementer mayopt for a mainly software implementation that is implemented in one ormore machines or articles of manufacture; or, yet again alternatively,the implementer may opt for some combination of hardware, software,firmware, etc. in one or more machines or articles of manufacture.Hence, there are several possible vehicles by which the processes,devices, other technologies, etc., described herein may be effected,none of which is inherently superior to the other in that any vehicle tobe utilized is a choice dependent upon the context in which the vehiclewill be deployed and the specific concerns (e.g., speed, flexibility, orpredictability) of the implementer, any of which may vary. In anembodiment, optical aspects of implementations will typically employoptically-oriented hardware, software, firmware, etc., in one or moremachines or articles of manufacture.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely examples, and that in fact, many other architectures can beimplemented that achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected”, or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably coupleable,” to each other to achieve the desiredfunctionality. Specific examples of operably coupleable include, but arenot limited to, physically mateable, physically interacting components,wirelessly interactable, wirelessly interacting components, logicallyinteracting, logically interactable components, etc.

In an embodiment, one or more components may be referred to herein as“configured to,” “configurable to,” “operable/operative to,”“adapted/adaptable,” “able to,” “conformable/conformed to,” etc. Suchterms (e.g., “configured to”) can generally encompass active-statecomponents, or inactive-state components, or standby-state components,unless context requires otherwise.

The foregoing detailed description has set forth various embodiments ofthe devices or processes via the use of block diagrams, flowcharts, orexamples. Insofar as such block diagrams, flowcharts, or examplescontain one or more functions or operations, it will be understood bythe reader that each function or operation within such block diagrams,flowcharts, or examples can be implemented, individually orcollectively, by a wide range of hardware, software, firmware in one ormore machines or articles of manufacture, or virtually any combinationthereof. Further, the use of “Start,” “End,” or “Stop” blocks in theblock diagrams is not intended to indicate a limitation on the beginningor end of any functions in the diagram. Such flowcharts or diagrams maybe incorporated into other flowcharts or diagrams where additionalfunctions are performed before or after the functions shown in thediagrams of this application. In an embodiment, several portions of thesubject matter described herein is implemented via Application SpecificIntegrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs),digital signal processors (DSPs), or other integrated formats. However,some aspects of the embodiments disclosed herein, in whole or in part,can be equivalently implemented in integrated circuits, as one or morecomputer programs running on one or more computers (e.g., as one or moreprograms running on one or more computer systems), as one or moreprograms running on one or more processors (e.g., as one or moreprograms running on one or more microprocessors), as firmware, or asvirtually any combination thereof, and that designing the circuitry orwriting the code for the software and or firmware would be well withinthe skill of one of skill in the art in light of this disclosure. Inaddition, the mechanisms of the subject matter described herein arecapable of being distributed as a program product in a variety of forms,and that an illustrative embodiment of the subject matter describedherein applies regardless of the particular type of signal-bearingmedium used to actually carry out the distribution. Non-limitingexamples of a signal-bearing medium include the following: a recordabletype medium such as a floppy disk, a hard disk drive, a Compact Disc(CD), a Digital Video Disk (DVD), a digital tape, a computer memory,etc.; and a transmission type medium such as a digital or an analogcommunication medium (e.g., a fiber optic cable, a waveguide, a wiredcommunications link, a wireless communication link (e.g., transmitter,receiver, transmission logic, reception logic, etc.), etc.).

While particular aspects of the present subject matter described hereinhave been shown and described, it will be apparent to the reader that,based upon the teachings herein, changes and modifications can be madewithout departing from the subject matter described herein and itsbroader aspects and, therefore, the appended claims are to encompasswithin their scope all such changes and modifications as are within thetrue spirit and scope of the subject matter described herein. Ingeneral, terms used herein, and especially in the appended claims (e.g.,bodies of the appended claims) are generally intended as “open” terms(e.g., the term “including” should be interpreted as “including but notlimited to,” the term “having” should be interpreted as “having atleast,” the term “includes” should be interpreted as “includes but isnot limited to,” etc.). Further, if a specific number of an introducedclaim recitation is intended, such an intent will be explicitly recitedin the claim, and in the absence of such recitation no such intent ispresent. For example, as an aid to understanding, the following appendedclaims may contain usage of the introductory phrases “at least one” and“one or more” to introduce claim recitations. However, the use of suchphrases should not be construed to imply that the introduction of aclaim recitation by the indefinite articles “a” or “an” limits anyparticular claim containing such introduced claim recitation to claimscontaining only one such recitation, even when the same claim includesthe introductory phrases “one or more” or “at least one” and indefinitearticles such as “a” or “an” (e.g., “a” and/or “an” should typically beinterpreted to mean “at least one” or “one or more”); the same holdstrue for the use of definite articles used to introduce claimrecitations. In addition, even if a specific number of an introducedclaim recitation is explicitly recited, such recitation should typicallybe interpreted to mean at least the recited number (e.g., the barerecitation of “two recitations,” without other modifiers, typicallymeans at least two recitations, or two or more recitations).Furthermore, in those instances where a convention analogous to “atleast one of A, B, and C, etc.” is used, in general such a constructionis intended in the sense of the convention (e.g., “a system having atleast one of A, B, and C” would include but not be limited to systemsthat have A alone, B alone, C alone, A and B together, A and C together,B and C together, and/or A, B, and C together, etc.). In those instanceswhere a convention analogous to “at least one of A, B, or C, etc.” isused, in general such a construction is intended in the sense of theconvention (e.g., “a system having at least one of A, B, or C” wouldinclude but not be limited to systems that have A alone, B alone, Calone, A and B together, A and C together, B and C together, and/or A,B, and C together, etc.). Typically a disjunctive word or phrasepresenting two or more alternative terms, whether in the description,claims, or drawings, should be understood to contemplate thepossibilities of including one of the terms, either of the terms, orboth terms unless context dictates otherwise. For example, the phrase “Aor B” will be typically understood to include the possibilities of “A”or “B” or “A and B.”

With respect to the appended claims, the operations recited thereingenerally may be performed in any order. Also, although variousoperational flows are presented in a sequence(s), it should beunderstood that the various operations may be performed in orders otherthan those that are illustrated, or may be performed concurrently.Examples of such alternate orderings includes overlapping, interleaved,interrupted, reordered, incremental, preparatory, supplemental,simultaneous, reverse, or other variant orderings, unless contextdictates otherwise. Furthermore, terms like “responsive to,” “relatedto,” or other past-tense adjectives are generally not intended toexclude such variants, unless context dictates otherwise.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments are contemplated. The various aspects andembodiments disclosed herein are for purposes of illustration and arenot intended to be limiting, with the true scope and spirit beingindicated by the following claims.

What is claimed is:
 1. A stand-up wheelchair, comprising: a stand-upassembly having an articulated structure movable between a sittingconfiguration, a kneeling configuration, a reaching configuration, aleaning configuration, or a standing configuration and a different oneof a sitting configuration, a kneeling configuration, a reachingconfiguration, a leaning configuration, or a standing configuration; aplurality of rotatable members operable to frictionally interface thestand-up wheelchair to a travel surface and to move the stand-upwheelchair along the travel surface; a stabilization assembly having aplurality of flywheels operable to apply a righting torque along one ormore of a transverse axis, a longitudinal axis, a vertical axis of thestand-up wheelchair, or combinations thereof; and a dynamic stabilitycontroller operably coupled to the stabilization assembly, the dynamicstability controller operable to cause one or more of the plurality offlywheels to change spin responsive to a detected change in a center ofmass location.
 2. The stand-up wheelchair of claim 1, wherein thedynamic stability controller is operable to actuate at least two of theplurality of flywheels so as to apply at least a first righting torqueand a second righting torque along non-collinear axes responsive to anexternally applied torque.
 3. The stand-up wheelchair of claim 1,wherein the dynamic stability controller is operable to circuitry forvarying a spin rate of one or more of the plurality of flywheelsresponsive to a change in an applied torque.
 4. The stand-up wheelchairof claim 1, wherein the dynamic stability controller is operable forvarying a spin direction one or more of the plurality of flywheelsresponsive to an externally applied torque.
 5. The stand-up wheelchairof claim 1, wherein at least two of the plurality of flywheels areoperable to apply at least a first righting torque and a second rightingtorque along non-collinear axes.
 6. The stand-up wheelchair of claim 1,further comprising: one or more sensors for detecting a magnitude anddirection of an angular velocity of one or more of the plurality offlywheels.
 7. The stand-up wheelchair of claim 1, further comprising:one or more sensors for detecting an externally applied torque on thestand-up wheelchair.
 8. A stand-up wheelchair system, comprising:circuitry for actuating a stand-up assembly configured to support apassenger transitioning between a sitting position, a kneeling position,a reaching position, or a leaning position, and a substantially standingposition; circuitry for sensing a stand-up wheelchair mass distributionand for determining a standup wheelchair center of mass location; andcircuitry for actuating rotation of at least a first flywheel about afirst axis responsive to changes in a stand-up wheelchair center of masslocation.
 9. The stand-up wheelchair system of claim 8, furthercomprising: circuitry for actuating rotation of at least a firstflywheel about a first axis responsive to changes in a stand-upwheelchair mass distribution.
 10. The stand-up wheelchair system ofclaim 8, further comprising: circuitry for actuating rotation of atleast a second flywheel about a second axis responsive to changes in astand-up wheelchair mass distribution.
 11. The stand-up wheelchairsystem of claim 8, further comprising: circuitry for actuating rotationof at least a second flywheel about a second axis responsive to changesin a stand-up wheelchair center of mass location.
 12. The stand-upwheelchair system of claim 8, further comprising: circuitry foractuating rotation of at least a second flywheel about a second axisdifferent from the first axis responsive to changes in a stand-upwheelchair center of mass location.
 13. The stand-up wheelchair systemof claim 8, further comprising: circuitry for detecting a change in astand-up wheelchair tilt.
 14. The stand-up wheelchair system of claim 8,further comprising: circuitry for detecting an externally appliedtorque.
 15. The stand-up wheelchair system of claim 8, furthercomprising: circuitry for varying a spin rate of the at least firstflywheel about the first axis responsive to changes in a stand-upwheelchair center of mass location.
 16. The stand-up wheelchair systemof claim 8, further comprising: circuitry for varying a spin directionof the at least first flywheel about the first axis responsive tochanges in a stand-up wheelchair center of mass location.
 17. A methodof operating stand-up wheelchair, comprising: actuating a stand-upassembly configured to support a passenger transitioning from a firstconfiguration to a standing configuration; and actuating anangular-momentum-based stabilizer responsive to detecting a change in acenter of mass location associated with a stand-up assemblytransitioning from a first configuration to a standing configuration.18. The method of operating stand-up wheelchair of claim 17, furthercomprising: actuating an angular-momentum-based stabilizer responsive todetecting a change in a target stand-up wheelchair acceleration.
 19. Themethod of operating stand-up wheelchair of claim 17, further comprising:actuating an angular-momentum-based stabilizer responsive to detecting achange in a stand-up wheelchair tilt.
 20. The method of operatingstand-up wheelchair of claim 17, wherein actuating theangular-momentum-based stabilizer includes activating rotation of one ormore flywheels.
 21. The method of operating stand-up wheelchair of claim17, wherein actuating the angular-momentum-based stabilizer includesvarying a rotation rate of one or more flywheels responsive to detectinga change in a center of mass location.
 22. The method of operatingstand-up wheelchair of claim 17, wherein actuating theangular-momentum-based stabilizer includes varying a rotation directionof one or more flywheels responsive to detecting a change in a center ofmass location.